A gas-liquid coupled jet-assisted laser transmission welding method and welding device

Abstract

The present invention relates to the field of laser transmission welding technology, and in particular to a gas-liquid coupled jet-assisted laser transmission welding method and welding device, the welding method comprising: planning a welding path, using a laser beam to transmit and weld a workpiece to form a weld; arranging a cooling assembly above the workpiece, the coolant sprayed by the cooling assembly performs low-temperature cooling on the weld along the welding path, and the moving speed of the cooling assembly is less than the laser welding speed; symmetrically arranging two gas nozzles on the plane formed by the intersection of the laser beam and the welding path, and the gas acts near the welding point; in addition, the flow rate of the coolant, the flow rate of the gas, and the spray angles of the coolant and the gas are all adjusted according to the surface temperature of the workpiece. This method solves the problem that the cooling speed is difficult to control in the existing welding liquid cooling, effectively maintains the dimensional stability and shape accuracy of the weldment, improves the welding quality and efficiency, and provides a new technical solution for the field of laser transmission welding.

Description

Technical Field

[0001] The invention relates to the technical field of laser transmission welding, and in particular to a gas-liquid coupling jet-assisted laser transmission welding method and a welding device. Background Art

[0002] During the laser transmission welding process and after the welding is completed, if natural cooling is relied on, its slow speed often leads to the expansion of the heat-affected zone, which in turn has an adverse effect on the precision and mechanical properties of the welded parts. In addition, continuous exposure of the material to high temperature will aggravate the deformation of the welded parts caused by the difference in thermal expansion and contraction.

[0003] Patent CN215615789U discloses a laser welding machine with a cooling device. This design uses a built-in water cooling box and a workbench to push the workpiece into the coolant for cooling after welding. Although this method can achieve cooling without removing the workpiece, it has obvious defects: the cooling speed cannot be finely controlled, which may increase the risk of cracks in the weld due to excessive cooling; at the same time, coolant may remain on the surface of the workpiece, which needs to be cleaned up later to avoid affecting processing or product performance.

[0004] Another patent CN214815713U discloses a double-sided laser welding machine with a cooling device, which uses a blower and a shunt pipe system to accelerate the cooling of the welded plate. However, the air cooling method is limited by the low thermal conductivity of air, and the cooling efficiency is limited. Especially in the welding process with high energy input, it is difficult to effectively control the cooling rate. In addition, uneven air flow may lead to inconsistent local cooling of the weld, which in turn affects the welding quality.

[0005] In summary, both of the above-mentioned two cooling methods have deficiencies in cooling efficiency and workpiece quality control due to their respective limitations. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a gas-liquid coupled jet-assisted laser transmission welding method and a welding device, wherein the welding method comprises the following steps:

[0007] S1: planning a welding path along any length direction of a workpiece, and based on the welding path, performing transmission welding on the workpiece using a laser beam to form a weld, defining a plane where the workpiece is located as a first plane, and defining a plane formed by the laser beam moving along the welding path as a second plane, wherein the second plane is perpendicular to the first plane;

[0008] S2: a cooling assembly is arranged on the second plane, the cooling liquid sprayed by the cooling assembly cools the weld at a low temperature along the welding path, and the moving speed of the cooling assembly is lower than the welding speed of the laser beam;

[0009] S3: a first gas nozzle and a second gas nozzle are symmetrically arranged on both sides of the second plane, the first gas nozzle and the second gas nozzle are both consistent with the moving speed of the laser beam, and when the first gas nozzle and the second gas nozzle follow the laser beam to perform welding, the gas ejected by the first gas nozzle and the second gas nozzle acts near the welding point;

[0010] Among them, the angle between the spray angle of the coolant and the first plane is recorded as the first angle, and the angle between the spray angle of the gas and the first plane is recorded as the second angle. The coolant flow rate, the gas flow rate and the sizes of the first angle and the second angle are all adjusted according to the surface temperature of the workpiece.

[0011] In one embodiment of the present invention, the method for adjusting the coolant flow rate and the gas flow rate according to the surface temperature of the workpiece is as follows:

[0012] Acquire the actual temperature value of the weld in real time, set the ideal temperature value of the weld, minimize the error between the actual temperature value and the ideal temperature value, and construct a coolant flow regulation model and a gas flow adjustment model;

[0013] Based on the coolant flow rate regulation model and the gas flow rate regulation model, the coolant flow rate and the gas flow rate are dynamically adjusted respectively until welding is completed or the error value is stabilized within a preset range.

[0014] In one embodiment of the present invention, the expression of the coolant flow regulation model is:

[0015] ,

[0016] in, is the coolant flow adjustment value at time t, is the temperature error value at time t, is the actual temperature of the weld at time t, is the ideal temperature of the weld, , , are the proportional, integral and derivative control gains respectively.

[0017] In one embodiment of the present invention, the expression of the gas flow regulation model is:

[0018] ,

[0019] in, is the gas flow adjustment value at time t, , , are the proportional, integral and derivative control gains respectively.

[0020] In one embodiment of the present invention, the method for adjusting the first angle and the second angle according to the surface temperature of the workpiece is as follows:

[0021] Acquire the actual temperature value of the weld in real time, set the ideal temperature value of the weld, and construct a first angle adjustment model and a second angle adjustment model with the goal of minimizing the error value between the actual temperature value and the ideal temperature value;

[0022] Based on the first angle adjustment model and the second angle adjustment model, the first angle and the second angle are dynamically adjusted respectively until welding is completed or the error value is stabilized within a preset range.

[0023] In one embodiment of the present invention, the expression of the first angle adjustment model is:

[0024] ,

[0025] in, is the first angle adjustment value at time t, is the initial spray angle of the coolant, is the temperature error value at time t, is the actual temperature of the weld at time t, is the ideal temperature of the weld, is the adjustment coefficient of the injection angle.

[0026] In one embodiment of the present invention, the expression of the second angle adjustment model is:

[0027] ,

[0028] in, is the second angle adjustment value at time t, is the initial injection angle of the gas, is the adjustment coefficient of the injection angle.

[0029] In one embodiment of the present invention, the coolant is selected to match the material and processing technology of the workpiece.

[0030] Based on the same inventive concept, the present invention also provides a gas-liquid coupled jet-assisted laser transmission welding device, which is used to implement the gas-liquid coupled jet-assisted laser transmission welding method in the above technical solution, comprising:

[0031] A workpiece welding assembly, wherein the workpiece welding assembly is used to plan a welding path along any length direction of the workpiece, and based on the welding path, a laser beam is used to perform transmission welding on the workpiece to form a weld, wherein a plane where the workpiece is located is defined as a first plane, and a plane formed by the laser beam moving along the welding path is defined as a second plane, and the second plane is perpendicular to the first plane;

[0032] a weld cooling assembly disposed on the second plane, wherein the coolant ejected by the weld cooling assembly cools the weld at a low temperature along the welding path, and the moving speed of the weld cooling assembly is lower than the welding speed of the laser beam;

[0033] and a cooling auxiliary component, the cooling auxiliary component comprising a first gas nozzle and a second gas nozzle symmetrically arranged on both sides of the second plane, the first gas nozzle and the second gas nozzle both keep the same moving speed as the workpiece welding component, and in the process that the first gas nozzle and the second gas nozzle both follow the workpiece welding component to perform welding, the gas ejected by the first gas nozzle and the second gas nozzle acts near the welding point;

[0034] Among them, the angle between the spray angle of the coolant and the first plane is recorded as the first angle, and the angle between the spray angle of the gas and the first plane is recorded as the second angle. The coolant flow rate, the gas flow rate and the sizes of the first angle and the second angle are all adjusted according to the surface temperature of the workpiece.

[0035] In one embodiment of the present invention, the device further includes a first regulating module and a first driving module, wherein the first regulating module is used to obtain a coolant flow regulating value and a first angle adjusting value, and is configured as follows:

[0036] Acquire the actual temperature value of the weld in real time, set the ideal temperature value of the weld, minimize the error between the actual temperature value and the ideal temperature value, and construct a coolant flow regulation model and a first angle adjustment model;

[0037] Based on the coolant flow rate regulation model and the first angle adjustment model, obtaining a coolant flow rate regulation value and a first angle adjustment value;

[0038] According to the coolant flow adjustment value and the first angle adjustment value, the first driving module dynamically adjusts the coolant flow and the coolant injection angle sprayed by the weld cooling assembly respectively until the welding is completed or the error value is stabilized within a preset range.

[0039] In one embodiment of the present invention, the device further includes a second regulating module and a second driving module, wherein the second regulating module is used to obtain a gas flow regulating value and a second angle adjusting value, and is configured as follows:

[0040] Acquire the actual temperature value of the weld in real time, set the ideal temperature value of the weld, minimize the error between the actual temperature value and the ideal temperature value, and construct a gas flow regulation model and a second angle adjustment model;

[0041] Based on the gas flow rate adjustment model and the second angle adjustment model, obtaining a gas flow rate adjustment value and a second angle adjustment value;

[0042] According to the gas flow adjustment value and the second angle adjustment value, the second driving module dynamically updates the gas flow and the gas injection angle of the first gas nozzle and the second gas nozzle respectively until the welding is completed or the error value is stabilized within a preset range.

[0043] In one embodiment of the present invention, the device also includes a temperature monitoring module, which is installed on the workpiece and connected to both the first adjustment module and the second adjustment module, and is used to obtain the actual temperature value of the weld in real time and feed the actual temperature value of the weld back to the first adjustment module and the second adjustment module.

[0044] The above technical solution of the present invention has the following advantages compared with the prior art:

[0045] The present invention significantly accelerates the cooling process of the weld area, effectively reduces the heat-affected zone and residual stress generated during welding, and thus helps to accurately control the thermal deformation of the welded parts, ensuring the dimensional stability and shape accuracy of the welded parts. In addition, the present invention solves the problem that the existing welding liquid cooling cannot control the cooling speed, and the coolant that matches the material and process can be freely selected, and there is no residual coolant on the weld surface, which has no effect on subsequent processing or product performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0047] Figure 1 It is a schematic flow chart of the gas-liquid coupled jet-assisted laser transmission welding method provided in the first embodiment of the present invention;

[0048] Figure 2 It is a schematic structural diagram of a gas-liquid coupled jet-assisted laser transmission welding device provided in the second embodiment of the present invention;

[0049] Figure 3Schematic diagram of the structure of the device for adjusting the gas-liquid flow rate and the injection angle provided in the second embodiment of the present invention;

[0050] Explanation of the figure marks in the specification: 10, workpiece; 20, welding path; 30, workpiece welding assembly; 40, weld cooling assembly; 50, cooling auxiliary assembly; 501, first gas nozzle; 502, second gas nozzle; 60, first adjustment module; 70, first drive module; 80, second adjustment module; 90, second drive module; 100, temperature monitoring module. DETAILED DESCRIPTION

[0051] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention. Embodiment 1

[0052] See also Figure 1 As shown, the present invention provides a gas-liquid coupled jet-assisted laser transmission welding method, the welding method comprising the following steps:

[0053] S1: planning a welding path along any length direction of a workpiece, and based on the welding path, performing transmission welding on the workpiece using a laser beam to form a weld, defining a plane where the workpiece is located as a first plane, and defining a plane formed by the laser beam moving along the welding path as a second plane, wherein the second plane is perpendicular to the first plane;

[0054] S2: a cooling assembly is arranged on the second plane, the cooling liquid sprayed by the cooling assembly cools the weld at a low temperature along the welding path, and the moving speed of the cooling assembly is lower than the welding speed of the laser beam;

[0055] S3: a first gas nozzle and a second gas nozzle are symmetrically arranged on both sides of the second plane, the first gas nozzle and the second gas nozzle are both consistent with the moving speed of the laser beam, and when the first gas nozzle and the second gas nozzle follow the laser beam to perform welding, the gas ejected by the first gas nozzle and the second gas nozzle acts near the welding point;

[0056] Among them, the angle between the spray angle of the coolant and the first plane is recorded as the first angle, and the angle between the spray angle of the gas and the first plane is recorded as the second angle. The coolant flow rate, the gas flow rate and the sizes of the first angle and the second angle are all adjusted according to the surface temperature of the workpiece.

[0057] It can be seen from the above technical solutions that the present invention can achieve fine control of the cooling rate of the weld by adjusting the flow rate of the coolant, the flow rate of the gas and the angle (the first angle and the second angle) between the coolant and the plane of the workpiece, thereby effectively reducing the heat-affected zone and residual stress during welding, and helping to maintain the dimensional stability and shape accuracy of the weldment; due to the precise control of the cooling rate and the cooling method, the cooling process of the weld is more uniform, reducing weld quality problems caused by uneven cooling, such as cracks, deformation, etc., thereby improving the overall quality of the weldment; in addition, the technical solution can adjust the cooling parameters in real time according to the surface temperature of the workpiece, so it is suitable for workpieces of different materials and different thicknesses, and has strong adaptability and flexibility.

[0058] Furthermore, in step S3, while the laser beam is welding, the first gas nozzle and the second gas nozzle both move accordingly, and the medium and high speed gases ejected by them play a dual role near the welding point. On the one hand, these gases effectively blow away the water particles dispersed in the air due to the splashing of the coolant, avoiding the refraction phenomenon that may occur after the water particles come into contact with the laser beam, thereby ensuring the accuracy of the laser trajectory. On the other hand, the medium and high speed gas also provides a symmetrical clamping force, which plays a clamping role on the workpiece and enhances the stability during the welding process.

[0059] Specifically, the proportional-integral-differential control (PID control) algorithm is used to achieve precise control of the cooling rate and temperature field during welding. The algorithm can adaptively adjust the flow rate and injection angle of the coolant nozzle and the gas nozzle, thereby changing the cooling rate and ensuring that the temperature field during welding is effectively controlled. Through the PID control algorithm, the system can monitor the temperature changes of the welded parts in real time, and dynamically adjust the output parameters of the coolant and gas according to the preset cooling target value. This adaptive adjustment mechanism not only optimizes the cooling effect after welding, effectively reduces the heat-affected zone and residual stress caused by overheating of the welded parts, but also avoids the deformation of the welded parts caused by too fast cooling.

[0060] First, according to the material characteristics and process requirements of the weld, the ideal temperature value and cooling speed of the weld are set; then, through the PID control algorithm, the temperature change during the welding process is monitored in real time, and the required adjustment of the coolant and gas output parameters is calculated according to the deviation between the current temperature and the target temperature. The detailed technical solution is as follows:

[0061] The actual temperature value of the weld is obtained in real time, and the ideal temperature value of the weld is set, with the goal of minimizing the error value between the actual temperature value and the ideal temperature value, and constructing a coolant flow regulation model and a gas flow regulation model; wherein the expression of the coolant flow regulation model is:

[0062] ,

[0063] in, is the coolant flow adjustment value at time t, is the temperature error value at time t, is the actual temperature of the weld at time t, is the ideal temperature of the weld, , , are the proportional, integral and derivative control gains respectively.

[0064] The expression of the gas flow regulation model is:

[0065] ,

[0066] in, is the gas flow adjustment value at time t, , , are the proportional, integral and derivative control gains respectively.

[0067] Based on the coolant flow rate regulation model and the gas flow rate regulation model, the coolant flow rate and the gas flow rate are dynamically adjusted respectively until welding is completed or the error value is stabilized within a preset range.

[0068] According to the calculation results of the PID control algorithm, the output pressure or flow of the coolant pump (i.e., the weld cooling component) and the gas compressor (i.e., the first gas nozzle or the second gas nozzle) is adjusted to achieve accurate control of the coolant and gas flow. In this way, the cooling speed can be adjusted in real time according to the temperature changes during the welding process to ensure that the temperature field of the weldment is always in an ideal state.

[0069] In addition to flow adjustment, the PID control algorithm can also adjust the spray angle of the coolant nozzle and gas nozzle according to the structure and shape of the welded part. By optimizing the spray angle, the cooling efficiency can be further improved and the heat-affected zone and residual stress during welding can be reduced.

[0070] The actual temperature value of the weld is obtained in real time, and the ideal temperature value of the weld is set, with the goal of minimizing the error value between the actual temperature value and the ideal temperature value, and constructing a first angle adjustment model and a second angle adjustment model; wherein the expression of the first angle adjustment model is:

[0071] ,

[0072] in, is the first angle adjustment value at time t, is the initial spray angle of the coolant, is the temperature error value at time t, is the actual temperature of the weld at time t, is the ideal temperature of the weld, is the adjustment coefficient of the injection angle.

[0073] The expression of the second angle adjustment model is:

[0074] ,

[0075] in, is the second angle adjustment value at time t, is the initial injection angle of the gas, is the adjustment coefficient of the injection angle.

[0076] Based on the first angle adjustment model and the second angle adjustment model, the first angle and the second angle are dynamically adjusted respectively until welding is completed or the error value is stabilized within a preset range.

[0077] Furthermore, the selection of the coolant is matched with the material and processing technology of the workpiece. Different materials have different physical properties such as thermal conductivity and thermal expansion coefficient, so it is necessary to select the corresponding coolant according to the material characteristics of the workpiece. For example, for materials with high thermal conductivity, a coolant with a higher heat capacity can be selected to more effectively absorb and disperse the heat generated during welding.

[0078] Different processing techniques will also affect the choice of coolant. For example, in situations where high-precision welding is required, a coolant that has less impact on the workpiece surface should be selected to avoid negative impact on welding quality. At the same time, the environmental protection and safety of the coolant must also be considered to ensure that there is no harm to the environment and personnel during the processing. Embodiment 2

[0079] Based on the same inventive concept as that of the first embodiment, the present invention also provides a gas-liquid coupling jet-assisted laser transmission welding device, which is used to implement the gas-liquid coupling jet-assisted laser transmission welding method in the first embodiment. Figure 2 As shown, the welding device comprises:

[0080] A workpiece welding assembly 30, wherein the workpiece welding assembly 30 is used to plan a welding path 20 along any length direction of a workpiece 10, and based on the welding path 20, a laser beam is used to perform transmission welding on the workpiece 10 to form a weld, wherein a plane where the workpiece 10 is located is defined as a first plane, and a plane formed by the laser beam moving along the welding path 20 is defined as a second plane, and the second plane is perpendicular to the first plane;

[0081] A weld cooling assembly 40 is arranged on the second plane, the coolant sprayed by the weld cooling assembly 40 cools the weld at a low temperature along the welding path 20, and the moving speed of the weld cooling assembly 40 is lower than the welding speed of the laser beam;

[0082] and a cooling auxiliary component 50, the cooling auxiliary component 50 comprising a first gas nozzle 501 and a second gas nozzle 502 symmetrically arranged on both sides of the second plane, the first gas nozzle 501 and the second gas nozzle 502 both keep the moving speed consistent with the workpiece welding component 30, and in the process that the first gas nozzle 501 and the second gas nozzle 502 both follow the workpiece welding component 30 to perform welding, the gas ejected by the first gas nozzle 501 and the second gas nozzle 502 acts near the welding point;

[0083] Among them, the angle between the coolant injection angle and the first plane is recorded as the first angle, and the angle between the gas injection angle and the first plane is recorded as the second angle. The coolant flow rate, gas flow rate and the sizes of the first angle and the second angle are all adjusted according to the surface temperature of the workpiece 10.

[0084] Furthermore, if Figure 3 As shown, the device further includes a first regulating module 60 and a first driving module 70. The first regulating module 60 is used to obtain a coolant flow regulating value and a first angle adjusting value, and is configured as follows:

[0085] Acquire the actual temperature value of the weld in real time, set the ideal temperature value of the weld, minimize the error between the actual temperature value and the ideal temperature value, and construct a coolant flow regulation model and a first angle adjustment model;

[0086] Based on the coolant flow rate regulation model and the first angle adjustment model, a coolant flow rate regulation value and a first angle adjustment value are obtained, and the calculation method thereof is consistent with that in the first embodiment and will not be described in detail here;

[0087] According to the coolant flow adjustment value and the first angle adjustment value, the first driving module 70 dynamically adjusts the coolant flow and the coolant injection angle sprayed by the weld cooling assembly 30 respectively until the welding is completed or the error value is stabilized within a preset range.

[0088] Furthermore, the device further includes a second regulating module 80 and a second driving module 90. The second regulating module 80 is used to obtain a gas flow regulating value and a second angle adjusting value, and is configured as follows:

[0089] Acquire the actual temperature value of the weld in real time, set the ideal temperature value of the weld, minimize the error between the actual temperature value and the ideal temperature value, and construct a gas flow regulation model and a second angle adjustment model;

[0090] Based on the gas flow rate adjustment model and the second angle adjustment model, a gas flow rate adjustment value and a second angle adjustment value are obtained, and the calculation method thereof is consistent with that in the first embodiment and will not be described in detail here;

[0091] According to the gas flow adjustment value and the second angle adjustment value, the second driving module 90 dynamically updates the gas flow and the gas injection angle of the first gas nozzle 501 and the second gas nozzle 502 respectively until welding is completed or the error value is stabilized within a preset range.

[0092] Furthermore, the device further includes a temperature monitoring module 100, which is installed on the workpiece 10 and connected to both the first regulating module 60 and the second regulating module 80, and is used to obtain the actual temperature value of the weld in real time and feed the actual temperature value of the weld back to the first regulating module 60 and the second regulating module 80. Preferably, the temperature monitoring module 100 is an infrared thermometer.

[0093] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A gas-liquid coupled jet-assisted laser transmission welding method, characterized in that: The following steps are involved: S1: planning a welding path along any length direction of a workpiece, and based on the welding path, performing transmission welding on the workpiece using a laser beam to form a weld, defining a plane where the workpiece is located as a first plane, and defining a plane formed by the laser beam moving along the welding path as a second plane, wherein the second plane is perpendicular to the first plane; S2: a cooling assembly is arranged on the second plane, the cooling liquid sprayed by the cooling assembly cools the weld at a low temperature along the welding path, and the moving speed of the cooling assembly is lower than the welding speed of the laser beam; S3: a first gas nozzle and a second gas nozzle are symmetrically arranged on both sides of the second plane, the first gas nozzle and the second gas nozzle are both consistent with the moving speed of the laser beam, and when the first gas nozzle and the second gas nozzle follow the laser beam to perform welding, the gas ejected by the first gas nozzle and the second gas nozzle acts near the welding point; The angle between the spray angle of the coolant and the first plane is recorded as the first angle, the angle between the spray angle of the gas and the first plane is recorded as the second angle, and the coolant flow rate, the gas flow rate, and the sizes of the first angle and the second angle are all adjusted according to the surface temperature of the workpiece; The method for adjusting the coolant flow rate and the gas flow rate according to the surface temperature of the workpiece is as follows: Acquire the actual temperature value of the weld in real time, set the ideal temperature value of the weld, minimize the error between the actual temperature value and the ideal temperature value, and construct a coolant flow regulation model and a gas flow regulation model; Based on the coolant flow rate regulation model and the gas flow rate regulation model, the coolant flow rate and the gas flow rate are dynamically adjusted respectively until welding is completed or the error value is stabilized within a preset range.

2. The gas-liquid coupled jet-assisted laser transmission welding method according to claim 1, characterized in that: The expression of the coolant flow regulation model is: Among them, Q w (t) is the coolant flow adjustment value at time t, e(t) = T w (t)-T opt is the temperature error value at time t, T w (t) is the actual temperature of the weld at time t, T opt is the ideal temperature of the weld, K p , K i , K d are the proportional, integral and derivative control gains respectively.

3. The gas-liquid coupled jet-assisted laser transmission welding method according to claim 2, characterized in that: The expression of the gas flow regulation model is: Among them, Q g (t) is the gas flow adjustment value at time t, K′ p , K′ i , K′ d are the proportional, integral and derivative control gains respectively.

4. The gas-liquid coupled jet-assisted laser transmission welding method according to claim 1, characterized in that: The method for adjusting the first angle and the second angle according to the surface temperature of the workpiece is as follows: Acquire the actual temperature value of the weld in real time, set the ideal temperature value of the weld, and construct a first angle adjustment model and a second angle adjustment model with the goal of minimizing the error value between the actual temperature value and the ideal temperature value; Based on the first angle adjustment model and the second angle adjustment model, the first angle and the second angle are dynamically adjusted respectively until welding is completed or the error value is stabilized within a preset range.

5. The gas-liquid coupled jet-assisted laser transmission welding method according to claim 4, characterized in that: The expression of the first angle adjustment model is: i w (t)=θ w0 -K θ ·e(t) Among them, θ w (t) is the first angle adjustment value at time t, θ w0 is the initial injection angle of the coolant, e(t) = T w (t)-T opt is the temperature error value at time t, T w (t) is the actual temperature of the weld at time t, T opt is the ideal temperature of the weld, K θ is the adjustment coefficient of the injection angle.

6. The gas-liquid coupled jet-assisted laser transmission welding method according to claim 5, characterized in that: The expression of the second angle adjustment model is: i g (t)=θ g0 -K′ θ ·e(t) Among them, θ g (t) is the second angle adjustment value at time t, θ g0 is the initial injection angle of the gas, K′ θ is the adjustment coefficient of the injection angle.

7. The gas-liquid coupled jet-assisted laser transmission welding method according to claim 1, characterized in that: The coolant is selected to match the material and processing technology of the workpiece.

8. A gas-liquid coupled jet-assisted laser transmission welding device, characterized in that: The method for realizing the gas-liquid coupled jet-assisted laser transmission welding according to any one of claims 1 to 7 comprises: A workpiece welding assembly, wherein the workpiece welding assembly is used to plan a welding path along any length direction of the workpiece, and based on the welding path, a laser beam is used to perform transmission welding on the workpiece to form a weld, wherein a plane where the workpiece is located is defined as a first plane, and a plane formed by the laser beam moving along the welding path is defined as a second plane, and the second plane is perpendicular to the first plane; a weld cooling assembly disposed on the second plane, wherein the coolant ejected by the weld cooling assembly cools the weld at a low temperature along the welding path, and the moving speed of the weld cooling assembly is lower than the welding speed of the laser beam; and a cooling auxiliary component, the cooling auxiliary component comprising a first gas nozzle and a second gas nozzle symmetrically arranged on both sides of the second plane, the first gas nozzle and the second gas nozzle both keep the same moving speed as the workpiece welding component, and when the first gas nozzle and the second gas nozzle both follow the workpiece welding component to perform welding, the gas ejected by the first gas nozzle and the second gas nozzle acts near the welding point; Among them, the angle between the coolant injection angle and the first plane is recorded as the first angle, and the angle between the gas injection angle and the first plane is recorded as the second angle. The coolant flow rate, gas flow rate and the sizes of the first angle and the second angle are all adjusted according to the surface temperature of the workpiece.

9. The gas-liquid coupled jet-assisted laser transmission welding device according to claim 8, characterized in that: The device further includes a first regulating module and a first driving module, wherein the first regulating module is used to obtain a coolant flow regulating value and a first angle adjusting value, and is configured as follows: Acquire the actual temperature value of the weld in real time, set the ideal temperature value of the weld, minimize the error between the actual temperature value and the ideal temperature value, and construct a coolant flow regulation model and a first angle adjustment model; Based on the coolant flow rate regulation model and the first angle adjustment model, obtaining a coolant flow rate regulation value and a first angle adjustment value; According to the coolant flow adjustment value and the first angle adjustment value, the first driving module dynamically adjusts the coolant flow and the coolant injection angle sprayed by the weld cooling assembly respectively until the welding is completed or the error value is stabilized within a preset range.

10. The gas-liquid coupled jet-assisted laser transmission welding device according to claim 9, characterized in that: The device further includes a second regulating module and a second driving module, wherein the second regulating module is used to obtain a gas flow regulating value and a second angle adjusting value, and is configured as follows: Acquire the actual temperature value of the weld in real time, set the ideal temperature value of the weld, minimize the error between the actual temperature value and the ideal temperature value, and construct a gas flow regulation model and a second angle adjustment model; Based on the gas flow rate adjustment model and the second angle adjustment model, obtaining a gas flow rate adjustment value and a second angle adjustment value; According to the gas flow adjustment value and the second angle adjustment value, the second driving module dynamically updates the gas flow and the gas injection angle of the first gas nozzle and the second gas nozzle respectively until the welding is completed or the error value is stabilized within a preset range.

11. The gas-liquid coupled jet-assisted laser transmission welding device according to claim 10, characterized in that: The device also includes a temperature monitoring module, which is installed on the workpiece and connected to both the first regulating module and the second regulating module, and is used to obtain the actual temperature value of the weld in real time and feed the actual temperature value of the weld back to the first regulating module and the second regulating module.

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